Two terrified men stranded for days in crocodile-infested waters in WA's remote north with dwindling water supplies, were forced to sleep on the roof of their car after a croc took an interest in their predicament.

It is the fourth time this month motorists have hit trouble in the isolated Kimberley region and needed to be rescued.

The men, along with their dog, were on a weekend fishing trip north of Broome on the Dampier Peninsula when their four-wheel-drive became bogged last Friday.

Police were alerted after they failed to return on Monday, sparking an extensive land and aerial search.

Broome Police Sergeant Mark Balfour said a close encounter with a crocodile kept the distressed men on the roof of the car for four nights.

"Obviously in the Kimberley here you've got to watch the crocs and snakes, and I believe one of the gentlemen said a croc did come close to their vehicle while they were out there, so obviously they were a bit panicky about that," he said.

Sergeant Balfour said the men were traumatised and running out of water when rescuers found them.

"They were quite happy to see us and obviously quite upset, crying," he said.

"Being out there for five days in this kind of country and with the weather being quite hot, I don't know what would have been going through their heads.